CN208991294U - A kind of U-shaped Elema automatic checkout equipment - Google Patents

Abstract

A kind of U-shaped Elema automatic checkout equipment belongs to heater element field, including feeding conveyer belt, feeding manipulator, control system, energization transformer, monitor station, blanking mechanical hand, feeding conveyor；The feeding conveyer belt is mounted on the feed end of monitor station；The feeding manipulator is mounted between feeding conveyer belt and monitor station, the crawl position of its manipulator and discharge position are corresponding with the feeding clamping position of the Elema position location of the discharge end of feeding conveyer belt and monitor station respectively, the dynamical system of its manipulator is connect by conducting wire with control system with control system, with the automatic detection that can be realized U-shaped Elema, and record or export detection data, detection accuracy is high, high degree of automation, avoid because high temperature generate personnel or article damage the features such as.

Description

A kind of U-shaped Elema automatic checkout equipment

Technical field

It is the invention belongs to electrical heating elements field, in particular to a kind of to be examined automatically for U-shaped Elema progress end properties Measurement equipment.

Background technique

The features such as Elema is a kind of novel electric heating element, high with heating temperature, resistance to oxidation, heating speed is fast obtains It is widely applied；Elema is to use silicon carbide for raw material, through overmolding, is formed, and drying is sintered, shape has straight stick, U Shape, rectangle etc., is made of two parts mostly, and a part is heating part, and another part is current-carrying part；The general position of current-carrying part In the both ends of entire Elema, the ambient enviroment that current-carrying part can according to need heating is fabricated to various shapes, Current-carrying part and heating part are connected by the way of bonding；Elema converts electrical energy into the process and metal electricity of thermal energy The fever of resistance silk has an essential difference, reason be Elema during heating power, resistivity with temperature not With and in nonlinear change；Room temperature to 800 °C or so as the temperature rises resistivity be reduced rapidly, as temperature is further It increases, resistivity starts to increase, and increased amplitude is higher and higher, therefore, needs in the detection process of Elema finished product Different heating temperature sections is used, is detected respectively, to guarantee that Elema finished product performance in use is stablized；It is existing The detection of the finished product of Elema mostly uses manual segmentation to detect greatly, that is, using manually putting, manually powers on, artificial to adjust Voltage is saved, manual record thermograph is manually removed；Working efficiency is low in this way, and Elema is typically all elongated rods, physical property It is crisp, it is easy to produce breakage and fractures, cause unnecessary loss；Elema temperature after energization is high, and manual operation is be easy to cause The damage of personnel and article；The energization and heating of Elema are a non-linear process, and manual record accuracy is low, cause to detect Parameter inaccuracy.

Summary of the invention

For the above problem existing for existing Elema finished product detection, the present invention proposes that a kind of U-shaped Elema is examined automatically Measurement equipment, it is characterised in that: including feeding conveyer belt, feeding manipulator, control system, energization transformer, monitor station, blanking machine Tool hand, feeding conveyor；The feeding conveyer belt is mounted on the feed end of monitor station, and discharge end and feeding manipulator are grabbed Fetch bit is set corresponding, and dynamic Control and partial message transmission are connect by conducting wire with control system；The feeding manipulator It is mounted between feeding conveyer belt and monitor station, the crawl position of manipulator and discharge position go out with feeding conveyer belt respectively The feeding clamping position of the Elema position location and monitor station of expecting end is corresponding, the dynamical system and control system of manipulator Connect by conducting wire with control system, the pneumatic system of manipulator is connect with the pneumatic system of this equipment, manipulator it is pneumatic The control circuit of system is connect by conducting wire with control system；Each mechanical arm mutual cooperation of the feeding manipulator can Realize the raising and lowering and rotation of catching robot；The control system is mounted in each funtion part of this equipment, The operational mode and cooperating for each funtion part and outputting and inputting for various information of this equipment can be controlled, respectively It is connect with each funtion part by conducting wire；The energization transformer is mounted near monitor station, is connect with control system；Institute The energization transformer stated is step-down transformer, and input terminal is line voltage, and output end has 3 or more, exports different electricity respectively Pressure value, conductive segment connections different from the electrified rail on monitor station respectively, ceiling voltage is less than 36 volts；The monitor station peace It between feeding manipulator and blanking mechanical hand, can be received in feed end and the U-shaped Elema that is loaded, and be powered detection and energy Enough will test information to store and export respectively, and judge after its difference with standard parameter by U-shaped Elema from monitor station into Material end is transported to the discharge end of monitor station；The blanking mechanical hand is mounted on the discharge end of monitor station, catching robot Crawl position is corresponding with the U-shaped Elema position location of the discharge end of monitor station, and the rewinding position phase with feeding conveyor Corresponding, the dynamical system of manipulator is connect by conducting wire with control system with control system, the pneumatic system of manipulator and The pneumatic system of this equipment connects, and the control circuit of the pneumatic system of manipulator is connect by conducting wire with control system；Described Each mechanical arm of blanking mechanical hand, which cooperates, can be realized the raising and lowering and rotation of catching robot；The blanking Conveyer belt is mounted on the side of blanking mechanical hand and is located at discharging one end of monitor station, and rewinding position and blanking mechanical hand are grabbed Take the position of manipulator corresponding.

Further, the feeding conveyer belt includes power device, conveys tape holder, belt, limiting device, limit sensing Device, deflector, belt pulley；Conveyer belt power device includes motor, retarder；The motor and retarder is by servo motor It with integrating for star wheel decelerator, is mounted on conveying tape holder, power output shaft is connect with Pulley shaft, and circuit is by leading Line is connect with control system；The conveying tape holder includes frame and mounting plate；The frame is assembly, by multiple beam groups It closes, can support and install each functional component；The mounting plate is mounted on frame, and is fixedly connected with frame, It is capable of fixing and installs power device and Pulley shaft and limiting device and deflector；The belt is mounted on belt pulley On, for annular closure belt；The belt is by multiple, and each belt is parallel and upper surface is in the same plane；It is described Limiting device be mounted on conveying tape holder on, and be located at conveyer belt discharge end, with conveying tape holder be fixedly connected；The limit There are three devices, and confined planes are located on same level and perpendicular to the direction of motion of belt；The height of the limiting device Higher than the upper surface of belt；The layout overall width of three limiting devices is less than the length of the heating part of U-shaped Elema, and In the length areas of heating part；The limit sensors are mounted on limiting device, are pressure sensor or stroke Switch, detecting element is located at the confined planes outer surface of limiting device, that is, is higher by the confined planes of limiting device, can be than limit A step contacts the confined planes of position device with the U-shaped Elema on belt earlier；There are three the limit sensors, respectively corresponds It is mounted on three limiting devices；The deflector is mounted on conveying tape holder, and height is higher than the height of belt upper surface Greater than the diameter of Elema；The length direction of conveyer belt deflector is identical as belt direction of travel, and in the skin of endless-belt It is gradually gradually reduced at a distance from belt a side on the belt movement direction on belt wheel top, to the distance etc. apart from limiting device For flat plane and this plane is parallel to belt movement direction when U-shaped Elema maximum width；The belt pulley passes through skin Pulley shaft is mounted on conveying tape holder, and is fixedly connected with Pulley shaft, can be rotated under the drive of Pulley shaft；Described Belt pulley has multiple, is evenly arranged on Pulley shaft；There are two the Pulley shafts, is separately mounted to the two of conveying tape holder End, and parallel arrangement is generally aligned in the same plane；The Pulley shaft has the power output axis connection with power device, can In being rotated by for power device；It is provided with the slot to match with belt section on the belt pulley, and is located at two Slot on belt pulley on Pulley shaft corresponds to each other, and guarantees its center line position when in slot that belt is looped around on a pair of of belt pulley In same plane and perpendicular to ground.

The feeding manipulator includes pedestal, an axis power, the first arm, two axis power, the second arm, three axis power, and Three arms, four axis power, grasping mechanism；The pedestal is located at the lower section of the first arm, is connect by an axis power with the first arm；Institute The pedestal lower part stated is fixedly mounted on installation foundation, and top is connected by power with an axis；The one axis power is mounted on pedestal Top is the aggregate of servo motor and retarder, can provide for the first arm and rotate horizontally power and can control the first arm Rotation speed and angle；First arm is installed on the base, the power output axis connection of its underpart and an axis power, on Portion and two axis power cage connections；The two axis power are mounted on the upper end of the first arm, are the collection of servo motor and retarder Zoarium, shell are fixedly connected with the upper end of the first arm, and power output shaft is fixedly connected with the second arm, power output shaft Axis is vertical with the axis of the first arm, and the movement exported can be such that the second arm is swung around one end, and can control second The speed and angle of arm swing；Second arm is mounted on two axis power, and the power output shaft of one end and two axis power is solid Fixed connection, the cage connection of the other end and three axis power；The length of second arm is greater than the length of U-shaped Elema；It is described Three axis power be mounted on the end of the second arm, the other end corresponding with two axis power, shell is fixedly connected with the second arm, Power output shaft is fixedly connected with third arm；The three axis power are the set of servo motor and retarder, can be third Arm provides the swing speed and angle for swinging power and capable of controlling third arm, and swaying direction and the second arm swing direction are flat Row, that is, the plane that its center line is formed when the second arm swing are parallel with the plane that third arm center line swinging track is formed； The four axis power are mounted on the outer end of third arm, are the aggregate of servo motor and retarder, shell and third arm Outer end is fixedly connected, and power output shaft is fixedly connected with the attachment base of grasping mechanism, can be provided for grasping mechanism perpendicular to The rotary motion of third arm, and the rotation speed and angle of grasping mechanism can be controlled；The grasping mechanism is mounted on four axis On the power output shaft of power, attachment base is fixedly connected with the power output shaft of four axis power, can be around the axis of third arm Vertical direction rotation.

Further, the grasping mechanism includes substrate, attachment base, movable clip block, movable jaw, fixing clip, Open and close power；The substrate is located at the lower section of attachment base, is fixedly connected with attachment base, is rectangular plate-like body；The connection Seat is located at upper surface of base plate geometric center, and the column or open column shape body of connecting flange are had for upper end；The flange with Flange on the power output shaft of four axis power is matched and is fixedly connected；Guide groove on the movable clip block installation base plate It is interior, there are four, it is arranged symmetrically respectively about two center lines of substrate length and width, upper part has connection baffle, the connection baffle On be provided with the hole connecting with cylinder piston rod, baffle is vertical with the direction of the guide groove on substrate and the length of baffle is greater than base The width of guide groove on seat, can be avoided baffle and falls out of guide groove；Guide pad is arranged at the movable clip block lower part, described Guiding is mounted on the thickness in guide groove and running through substrate fastly, and the guide groove being oriented on fast width and substrate is of same size, leads The lower end of block is provided with movable jaw mounting hole, and in the fastening spiral shell for having fixed movable jaw with this mounting hole vertical side Nail；The movable jaw is mounted on the lower end of movable clip block, is the curved shape that there is circular arc in the middle and lower part made of spring steel wire The section radius of state, the radius and Elema heating part barred body of circular arc matches；The movable jaw is put down there are two more than Row installation；The fixing clip is mounted on the lower surface of substrate, vertical with base lower surface, and vertical center line and activity are pressed from both sides In one plane, there are four the fixing clips for the geometric center lines of pawl combination, matches and arranges with movable clip block, Neng Gouyu Movable jaw is formed to clamp and be paid, that is, can clamp when movable jaw is moved with guide groove of the movable clip block on substrate or Person unclamps the object between movable jaw and fixing clip；The folding power is double-rod cylinder, is fixedly mounted on base Plate upper surface, and it is symmetrically mounted on the centre of substrate, the piston rod at both ends is connect with two movable clip blocks for being located at both ends respectively, The movable clip block that both ends are able to drive when piston rod movement moves synchronously.

The control system includes alternating current tie-in line, alternating current air switch, deconcentrator, connecting terminal, dynamic Control system System, temperature control system, atmospheric control, master controller, button switch, touch screen, Switching Power Supply, control cabinet；Described Alternating current tie-in line one end is connect with mains supply, and the other end is connect with alternating current air switch；The alternating current air switch installation In control cabinet, inlet wire connecting terminal is connect with alternating current tie-in line, and outlet connecting terminal is connect by conducting wire with deconcentrator, energy Enough control the connection or disconnection of alternating current and this control system；The deconcentrator is mounted in control cabinet, and end of incoming cables is by leading Line is connect with the leading-out terminal of alternating current air switch, leading-out terminal respectively with Switching Power Supply, the relay of power control system, temperature The relay of control system, the solenoid valve of atmospheric control, master relay connection；The connecting terminal have one with On, it is mounted in control cabinet, is located at power control system and temperature control system and atmospheric control and master controller Between connection；The power control system includes the powered drive element group and corresponding information collection of this equipment Sensor is separately mounted on each functional component, connect with master controller；The temperature control system includes for monitor station On Elema energizing source and control and temperature sensor are provided, connect with master controller；The atmospheric control packet It includes the solenoid valve for controlling each pneumatic apparatus and corresponding provides the sensor of action message for pneumatic apparatus；Institute The master controller stated is mounted in control cabinet, with button switch, touch screen, Switching Power Supply, power control system, temperature control system System, atmospheric control connection；The master controller is programmable controller (PLC), information input contact R and information The quantity of output contact B is respectively greater than the quantity of all information collection elements with all executive components controlled；Described Button switch is mounted on the operation panel of control cabinet, including a normally opened Pneumatic button and a normally closed stop button, master Control line is connect with information input the contact R1 and R2 of master controller respectively, the information input contact of common terminal and master controller Common end RG connection；The touch screen is mounted on the observation panel of control cabinet, is fixedly connected with control box outer wall, electricity Source interface is connect by conducting wire with Switching Power Supply, and signal communication interface is connected by the touch screen interface of route and master controller； The Switching Power Supply is mounted in control cabinet, is fixedly connected with control cabinet, and power inlet passes through conducting wire and alternating current separated time Its connection, Neng Gouwei occur for device connection, power output interface and touch screen and master controller and indication signal and alarm signal They provide working power；The control cabinet is mounted near monitor station, is thin wall cavity body, outside is provided with button and opens Pass and touch screen installing port, are internally provided with the installation component of each function element, and have earthing or grounding means.

Further, the power control system includes the driving motor M1 being mounted on feeding conveyer belt, installation An axis driving motor on feeding manipulator does not have M2, and two axis driving motor M3 being mounted on feeding manipulator are mounted on Expect that the Three-axis drive motor M4 on manipulator, four axis driving motor M5 being mounted on feeding manipulator are mounted on monitor station Main drive motor M6, be mounted on the axis driving motor of blanking mechanical on hand and do not have M7, be mounted on two axis of blanking mechanical on hand Driving motor M8 is mounted on the Three-axis drive motor M9 of blanking mechanical on hand, is mounted on the four axis driving electricity of blanking mechanical on hand Machine M10, the driving motor M11 being mounted in feeding conveyor；It further include the limit sensors T1 being mounted on feeding conveyer belt, Limit sensors T2, limit sensors T3, the sensor T4 being mounted on the first working position of monitor station, are mounted on feeding conveyor The sensor T5 of feed end, and with driving motor M1, M2, M3, M4, M5, M6, M7, M8, M9, M10, M11 it is corresponding control after Electric appliance JC1, JC2, JC3, JC4, JC5, JC6, JC7, JC8, JC9, JC10, JC11 and electrical source of power control relay JC0；Also Including input signal hub J1 and output signal hub J2；Driving motor M1, M2, M3, M4, M5, M6, M7, the M8, M9, M10, M11 are servo motor；Its connection method is as follows: one end of driving motor M1 passes through connecting terminal and control relay The main contacts terminals of device JC1 connect, and the other end is connected by the common terminal of connecting terminal and alternating current；It controls relay JC1 control route one end by the information output contact B2 connection of connecting terminal and master controller, the other end passes through line concentration The information of device J2 and master controller exports common junction BG connection；One end of driving motor M2 passes through connecting terminal and control relay The main contacts terminals of device JC2 connect, and the other end is connected by the common terminal of connecting terminal and alternating current；It controls relay JC2 control route one end by the information output contact B3 connection of connecting terminal and master controller, the other end passes through line concentration The information of device J2 and master controller exports common junction BG connection；Same driving motor M3, M4, M5, M6, M7, M8, M9, One end of M10, M11 by connecting terminal respectively with control relay JC3, JC4, JC5, JC6, JC7, JC8, JC9, JC10, The main contacts terminals of JC11 connect, and the other end is connected by the common terminal of connecting terminal and alternating current；It controls relay JC3, JC4, JC5, control route one end of JC6, JC7, JC8, JC9, JC10, JC11 pass through connecting terminal and master controller Information output contact B4, B5, B6, B7, B8, B9, B10, B11, B12 connection, the other end pass through hub J2 and master controller Information exports common junction BG connection；The main contacts of control relay JC0 enters the power supply line of line and driving circuit with alternating current respectively Connection, controls the information output contact B1 connection of route one end and master controller, and the other end passes through hub J2 and main control The information of device exports common junction BG connection；The signal output end of the sensor T1, T2, T3, T4, T5 in order respectively with Information input contact R3, R4, R5, R6, the R7 connection of master controller, common junction pass through the letter of hub J1 and master controller Breath input common junction RG connection.

The temperature control system includes the sensor for being mounted on the presence or absence of the first operating position of monitor station Elema T4 is mounted on infrared temperature sensor above the second operating position of monitor station and corresponding with the arc end of U-shaped Elema T6, and with sensor T6 it is groups of positioned at U-shaped Elema two sides fever straightway infrared temperature sensor T7 and T8；Also Including being mounted on infrared temperature sensing above the third operating position of monitor station and corresponding with the arc end of U-shaped Elema Device T9 and with sensor T9 it is groups of positioned at U-shaped Elema two sides fever straightway infrared temperature sensor T10 and T11 further includes infrared temperature sensor being mounted on above the 4th operating position and corresponding with the arc end of U-shaped Elema T12, and with sensor T12 it is groups of positioned at U-shaped Elema two sides fever straightway infrared temperature sensor T13 and T14；It further include rack-mounted electrified rail；The electrified rail has parallel two, respectively with energizing source Two contacts be mounted on connecting conductive arm sliding contact with Elema both ends and be formed into a loop on the carrier on monitor station；Institute Have conductive segment and insulating segment on each electrified rail stated, wherein conductive segment respectively with the second working position and third on monitor station Working position and the 4th working position are corresponding, and are connected by control relay JC13, JC14, JC15 and energization transformer output end It connects；It is wherein connected in the output end of conductive segment corresponding with the first working position of monitor station and voltage regulating device, voltage is adjusted The input terminal of device is connect with three output taps of transformer output end respectively by the main contact of control relay JC15, is led to Overvoltage regulating device can provide two or more different power-on voltages to the first conductive segment；The energization transformer potential drop Pressure transformer, there are three above voltage value, primary inputs to be connect by relay with alternating current air switch for secondary output； Control the relay JC13, JC14, JC15 control route one end by connecting terminal respectively with the letter of master controller Output contact B14, B15, B16 connection are ceased, the other end exports common junction BG by the information on hub J2 and master controller Connection；Master control contact and dynamic Control system of the driving motor M13 of the voltage regulating device by control relay JC16 The master relay JC0 connection of system, the master control contact other end of JC16 are connect with alternating current common junction, control relay JC16's The one end for controlling route passes through the information output contact B17 connection of connecting terminal and master controller, and the other end passes through hub J2 It is connect with the information of master controller output common junction BG；The sensor T4 is the sensor in power control system, Connection type such as power control system；The signal of the sensor T6, T7, T8, T9, T10, T11, T12, T13, T14 exports End is by conducting wire respectively with information input the contact R9, R10, R11 on master controller, and R12, R13, R14, R15, R16, R17 connect It connects, common junction is connect by hub J1 with the information input common junction RG on master controller.

The atmospheric control includes pneumatic control electromagnetism corresponding with the cylinder on feeding manipulator grasping mechanism Valve F1, F2, pneumatic control solenoid valve F3, F4 corresponding with the opening cylinder for being mounted on the first working position of monitor station and are mounted on The opening cylinder of 5th operating position corresponding pneumatic control solenoid valve F5, F6 on monitor station, is grabbed with blanking mechanical hand is mounted on Mechanism cylinder corresponding solenoid valve F7, F8 are taken, is mounted on position sensor T16, T17, T18, T19, the T20 on upper cylinder, T21, T21, T22；The cylinder is the cylinder with magnet ring；Its connection type is solenoid valve F1, F2, F3, F4, F5, F6, Control route one end of F7, F8 respectively with information output contact B20, B21, B22, B23, B24, B25, the B26 of master controller, B27 sequence connects one to one, and the other end exports common junction BG connection by the information of hub J2 and master controller；Its The information output of sensor T16, T17, T18, T19, T20, T21, T22, T23 is respectively in sequence correspondingly and master control The information input contact R20, R21, R22 of device processed, R23, R24, R25, R26, R27 are correspondingly connected with, and common junction passes through line concentration The information input common junction RG connection of device J1 and master controller.

The pneumatic system includes gas source three linked piece, controls solenoid valve F1, F2, F3, F4, F5 with atmospheric control, F6, F7, F8 corresponding two-position-five-way solenoid valve DC1, DC2, DC3, DC4, DC5, DC6, DC7, DC8；It is mounted on feeding manipulator On double-rod cylinder Q1, Q2, be mounted on double-rod cylinder Q3, the Q4 of blanking mechanical on hand, be mounted under the first working position of monitor station Single pole cylinder Q5, the Q6 of the opening clamping mechanism of side are mounted on the single pole cylinder of the opening clamping mechanism below the 5th working position Q7, Q8；It is connected, is connect by solenoid valve with each cylinder, and connect respectively at each solenoid valve from gas source three linked piece by pipeline By the control of atmospheric control.

The monitor station includes stand leg, and rack opens clamping mechanism, carrier, transmission mechanism, track, temperature detection dress It sets, material detection device, voltage regulating device, electrified rail；The stand leg is mounted on rack two sides, has 4 or more, in machine Frame two sides are symmetrically installed；The stand leg is bending, can avoid carrier revolution space；The rack is mounted on stand leg On, it is fixedly connected with stand leg, can support and fix opening clamping mechanism, carrier, transmission mechanism, guide rail, temperature-detecting device, Material detection device, voltage regulating device, the position of electrified rail on the rack；The opening clamping mechanism is mounted on rack On, it is pneumatic device, the folding of carrier upper clamp can be opened and closed；There are two the opening clamping mechanisms, pacifies respectively The lower section of locating first job position and the 5th operating position carrier when stopping on the rack mounted in carrier, and on carrier The folding column of clamp connects, and there are two operating points for each opening clamping mechanism, corresponding with two clamps of each carrier respectively； The carrier is mounted on the chain of transmission mechanism, is uniformly distributed around chain closed loop, and its underpart is fixedly connected with chain, Guide wheel group and track cooperate, and carrier can be guaranteed along guide rail stable operation；The carrier forms interval on the chain of upper layer Movement, stops at fixed stop position, that is, operating position every time, and since the operating position be the feeding one end One working position to the 5th working position；The transmission mechanism is mounted on the lower portion of rack, including power device, sprocket shaft, Sprocket wheel, chain；The power device is servo motor integration reducer, is mounted in rack framework, is fixedly connected with rack, Its power output shaft and drive sprocket axis connection；The sprocket shaft is mounted on the lower section of rack and is located at monitor station charging one End, is fixedly connected by bearing with rack, and the power output axis connection with power device, can be under the drive of power device It rotates freely；The sprocket wheel has 4 pairs, is symmetrically mounted on the inside of rack framework, and 4 unilateral sprocket wheels are in distributed rectangular same In a plane, a pair therein is mounted on sprocket shaft, other sprocket wheels are mounted on the rack by bearing, can be freely rotated； The chain is looped around 4 unilateral sprocket wraps and forms rectangle closed loop with sprocket engagement；The chain is with peace Load the single sleeve roller carrier chain of body；The track is mounted on the rack, and is fixedly connected with rack, shape and unilateral side Chain shape is identical, is lath-shaped ring structure；There are two the tracks, is symmetrically mounted on rack two sides, respectively with carrier On guide wheel group it is chimeric, guarantee that guide wheel group can do circulatory motion along track；The temperature-detecting device is mounted on machine Frame side, including sensor mount, infrared temperature sensor；The sensor mount is fixedly mounted on the rack, Its overlay length is greater than carrier working position；The infrared temperature sensor has 3 groups, is mounted on sensor mount simultaneously position Above carrier, every group 3 or more, one carrier working position of every group of correspondence, and one in single group is located at U-shaped Elema and is carrying Actuated position on body, other are located at two straight line heating parts of U-shaped Elema；The material detection device is mounted on load Second working position of the body on monitor station, and it is located at the lower section of the current-carrying part of U-shaped Elema and the current-carrying part of U-shaped Elema It is corresponding；The material detection device includes bracket, sensor；The bracket is mounted on the rack, and is fixed with rack Connection, while being fixedly connected with sensor；The sensor is rack-mount, detection one end alignment U-shaped Elema Current-carrying part, circuit are connect with control system；The sensor is photosensitive sensor or microswitch；The voltage Regulating device is mounted on rack side, below the electrified rail of second working position of the carrier on monitor station, including servo Motor, stud, sliding block, housing；The servo motor installation is connect with housing on the coat, motor shaft and Stud connection；Institute The stud stated is mounted on motor shaft, is made of insulating materials, is screwed on sliding block, and stud is able to drive sliding block when rotating and does straight line Movement；The sliding block is nested in housing, and is screwed on stud；The sliding block position conductor material is made, logical by conducting wire The first segment conductive segment of conductance rail connects；The housing is mounted on the rack, and is made of insulating material, and side wall is inlaid with three A conductor block, through the outer wall of housing and the shoe contact of inner cavity, spacing distance is greater than the length of sliding block；Three cunnings Block is fixedly connected with housing, and passes through three different voltages of conducting wire and the secondary coil for controlling relay and energization transformer Tap connection；The electrified rail is mounted on the outer side edges of rack, and is located at the same side of rack with the clamp on carrier；Institute The electrified rail stated includes power transmission guide rail (firewire), grounding guide (zero curve), be provided on the power transmission guide rail energization section and Changeover portion, the energization section are made of an electrically conducting material, and changeover portion is made of insulating material；The length and load of the energization section Body on monitor station second, third, the 4th working position it is corresponding, changeover portion is located between two energization sections；The ground connection Guide rail is parallel with electrified rail to be installed, and upper surface is conductor material, and lower part is made of insulating materials, and conductive material portion is logical The temperature control system for crossing conducting wire and control system connects.

Further, the carrier includes rear carrier plate, directive wheel, supporting plate, backing pin, supporting block, front supporting plate, Zuo Jia Pincers, left conductive arm, right conductive arm, right clamp；The rear carrier plate is mounted below supporting plate rear end, fixed company vertical with supporting plate It connects；The directive wheel has 4 or more, is divided into two groups and is symmetrically mounted on the inside of rear carrier plate and front supporting plate, every group of two directive wheels Between have gap, the track thickness matching in the size and monitor station in gap；The supporting plate is mounted on rear carrier plate and preceding branch The upper end of plate is connect with front supporting plate and rear carrier plate fixed vertical；The supporting plate top is equipped with backing pin and supporting block, lower part peace Equipped with the connecting elements being connect with carrier on chain；The backing pin is mounted on splint upper surface, is cone structure, by ceramic material Material is made, positioned at the arc inside top of U-shaped Elema installation；The supporting block is mounted on above supporting plate, is fixed with supporting plate Connection；The supporting block is symmetrically distributed in straight line portion on the inside of U-shaped Elema by multiple；The supporting block is by ceramic material Material is made；The front supporting plate is mounted on the front end of supporting plate, vertical with supporting plate to connect；The left clamp is mounted on front supporting plate Left side is fixedly connected with front supporting plate, and clamp movable part is connect by conducting wire with left conductive arm, and fixing seat is exhausted with front supporting plate Edge；The center of the left side current-carrying part at the center and U-shaped Elema of the left clamp is overlapped；The left conductive arm is mounted on On front supporting plate, one end is fixedly connected with front supporting plate insulation, and is connect by conducting wire with left clamp upper jaw, and the other end is hanging； The left conductive arm is made of flexible copper material, and free end has and the matched contact surface of electrified rail；Described On right conductive arm installation front supporting plate, one end and the fixed insulation connection of front supporting plate are connect separately by conducting wire with right clamp moving jaw One end is hanging；The right conductive arm is made of elastic copper material, and free end has and the matched contact surface of electrified rail；It is described Right clamp be mounted on front supporting plate, be fixedly connected with front supporting plate insulation, the center line of upper part adjustable cramp and U-shaped Elema The center of right side conductive part be overlapped, adjustable cramp is capable of the right side conductive part of clamp or release U-shaped Elema.

The blanking mechanical hand is mounted between monitor station and feeding conveyor, using with feeding manipulator structure phase Together, the complexity of maintenance and accessory is advantageously reduced in this way.

The feeding conveyor is mounted on the rear of blanking mechanical hand, including power device, conveys tape holder, belt, skin Belt wheel, material detection device；The power device, conveys tape holder, and belt pulley is identical as the feeding conveyer belt structure；Institute The material detection device stated is mounted on close blanking mechanical hand one end of conveying tape holder, hands down U-shaped Elema with blanking mechanical Position it is corresponding, be able to detect that the mechanical U-shaped Elema to hand down；Conveying belt is made of heat proof material, is had more It is a, it is looped around on multiple belt pulleys.

Beneficial effect

The beneficial effects of the present invention are can be realized the automatic detection of U-shaped Elema, and record or export testing number According to detection accuracy is high, high degree of automation, avoids the damage of the personnel or article that generate by high temperature.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of U-shaped Elema

A. heating part, B. conductive part.

Fig. 2 is structural schematic diagram of the invention

1. feeding conveyer belt, 2. feeding manipulators, 3. control systems, 4. energization transformers, 5. monitor stations, 6. blanking mechanicals Hand, 7. feeding conveyors.

Fig. 3 is the structural schematic diagram of feeding conveyer belt

11. power device, 12. conveying tape holders, 13. belts, 14. limiting devices, 15. limit sensors, 16. deflectors, 17. belt pulley.

Fig. 4 is the structural schematic diagram of feeding manipulator

21. pedestal, 22. 1 axis power, 23. first arms, 24. 2 axis power, 25. second arms, 26. 3 axis power, 27. Three arms, 28. 4 axis power, 29. grasping mechanisms.

Fig. 5 is the structural schematic diagram of feeding manipulator grasping mechanism

291. substrates, 292. attachment bases, 293. movable clip blocks, 294. movable jaws, 295. fixing clips, 296. foldings are dynamic Power.

Fig. 6 is control system wiring diagram

31. alternating current tie-in line, 32. air switches, 33. deconcentrators, 34. connecting terminals, 35. power control systems, 36. temperature Spend control system, 37. atmospheric controls, 38. master controllers, 39. button switches, 310. touch screens, 311. Switching Power Supplies.

Fig. 7 is power control system schematic diagram

Fig. 8 is temperature control system schematic diagram

Fig. 9 is atmospheric control schematic diagram

Figure 10 is the structural schematic diagram of monitor station

51. stand leg, 52. racks, 53. open clamping mechanism, 54. carriers, 55. transmission mechanisms, 56. tracks, the inspection of 57. temperature Survey device, 58. material detection devices, 59. voltage regulating devices, 510. electrified rails, the first working position of G1., the work of G2. second Position, G3. third working position, the 4th working position of G4., the 5th working position of G5..

Figure 11 is the structural schematic diagram of the carrier of monitor station

541. rear carrier plates, 542. directive wheels, 543. supporting plates, 544. backing pins, 545.U shape Elema, 546. supporting blocks, 547. front supporting plates, 548. left clamps, 549. left conductive arms, 5410. right conductive arms, 5411. right clamps.

Figure 12 is the schematic illustration of pneumatic system

QYJ gas source three linked piece, DC1-DC8 two-position five-way air-operated solenoid valve, Q1-Q8 cylinder.

Specific embodiment

Technical solution in order to further illustrate the present invention, now in conjunction with Detailed description of the invention a specific embodiment of the invention；Such as Fig. 1-11 selects in this example steel plate to be welded orthogonal, and as rear carrier plate 541, short side is fixedly connected with supporting plate 543, And it is located at below the rear end of supporting plate 543；It selects the rolling bearing of national standard as idler wheel in this example, selects 3 one group, select two Group, as directive wheel 542, close supporting plate direction is top in the plane of rear carrier plate 541, and top is arranged 1, lower section setting 2 It is a, in isosceles triangle arrange, can guarantee carrier stable motion on track 56 in this way, by wheel shaft respectively with rear carrier plate 541 are fixedly connected with the inside of front supporting plate 547；Guarantee above between an idler wheel and following two idler wheel by enough gaps, this The turning that sample can guarantee that carrier runs to track 56 has enough spaces to pass through；Select stainless steel plate as supporting plate in this example 543, supporting plate 543 is mounted on to the upper end of rear carrier plate 541 and front supporting plate 547, installation connects with carrier on chain in 543 lower part of supporting plate The general connecting elements of the industry connect, and connect with chain；Select conical ceramics pole as backing pin 544 in this example, by institute The backing pin 544 stated is mounted on 543 upper surface of supporting plate, positioned at the arc inside top of U-shaped Elema 545；L shape pottery is selected in this example Porcelain block selects 6 as supporting block 546 in this example, be symmetrically mounted on 542 top of supporting plate back-to-back, be located at U-shaped Elema 545 Inside straight line portion, outside upper side between distance be equal to U-shaped Elema 545 inner distance；It selects and 541 phase of rear carrier plate The front supporting plate 547 is mounted on the front end of supporting plate 543 as front supporting plate 547 by same wealth matter and structure；This is selected in this example The Elema conductive clip of industry universal is mounted on front supporting plate as left clamp 548 and right clamp 5411, by the left clamp 548 547 left side is fixedly connected with front supporting plate 547, and clamp movable part is connect by conducting wire with left conductive arm 549, is fixed Seat insulate with front supporting plate 547；Guarantee that the center of left clamp 548 and the center of the left side current-carrying part B of U-shaped Elema 545 are overlapped, Its underpart portable pillar is corresponding with clamping mechanism 53 is opened；Select strip copper sheet as left conductive arm 549 and right conductive arm in this example 5410, in one end bending and fixation hole is opened up, dogleg section is fixedly connected with front supporting plate 547, in dogleg section and preceding branch It installs insulation spacer between plate 547 additional to guarantee to insulate between left conductive arm 549 and front supporting plate 547, in free end setting length and lead to The arcuate friction contact surface that the width of conductance rail 510 matches is connected in bending part by conducting wire and left 548 upper jaw of clamp It connects；The length of left conductive arm 549 is selected to be greater than the length of right conductive arm 5410 in this example, length difference is equal to two electrified rails 510 spacing；The right conductive arm 5410 is installed on front supporting plate 547 using mounting means identical with left conductive arm 549, It is connect by conducting wire with the moving jaw of right clamp 5411；The right clamp 5411 is mounted on front supporting plate 547, using with The identical mounting means of left clamp 548 and requirement are fixedly connected with the insulation of front supporting plate 543, and this completes the realities of carrier 54 It applies.

The steel bend pipe that 90 ° are selected in this example, as stand leg 51, selects 4 stand legs in this example in its both ends welded flange 51, two one group is separately mounted on the two sides horizontal central line of rack 52, and the center of gravity about rack 52 is symmetrical, guarantees stand leg When 51 length and height are respectively greater than the length of the unilateral stretching rack 52 of carrier 54 and carrier 54 is located at 51 lower section of rack most With ground grazing does not occur for lower position；The mode for selecting the industry general in this example is welded into rack using rectangular steel pipe and steel plate 52, and rack 52 is fixedly connected with stand leg 51；The mode for the pneumatic actuation for selecting the industry general in this example is as opening folder Jaw mechanism 53 installs cylinder, the piston rod end installation of cylinder in the carrier holder side mounting bracket of rack 52, bracket Disk-shaped member, the portable pillar of left clamp 548 and right clamp 5411 is corresponding when stopping at the first working position G1 with carrier 54, cylinder Piston rod can push the portable pillar of left clamp 548 or right clamp 5411 to move when moving upwards, so that adjustable cramp be pushed to beat It opens, when the piston rod of cylinder moves downward, is moved downward by the spring being mounted between portable pillar and fixing seat by portable pillar, So that adjustable cramp closes up, to clamp the current-carrying part B of U-shaped Elema 545, in not cylinder moving when such benefit When the second working position G2 and third working position G3 and the 4th working position G4, it is able to maintain clamp and clamps Elema always, guarantee silicon The energization of carbon-point continues；4 are selected in this example and opens cylinder, are located at the left clamp 548 and right clamp of the first working position G1 The lower part of the left clamp 548 and right clamp 5411 of 5411 lower part and the 5th working position G5；

The cylinder of selection is all the general commercially available miniature cylinder cylinder with magnet ring of the industry, and is pacified outside cylinder Fill magnetic induction sensor T18, T19, T20, T21；Selecting in this example includes servo motor M6, the sprocket wheel of national standard, country's mark Quasi- sleeve-barrel roollr carrier chain is attached to carrier chain, as transmission mechanism 55, selects 4 one group of sprocket wheels, is mounted on rack 52 It is in distributed rectangular on the inside of frame, the center line of the sprocket wheel of top two is horizontal, selects two groups altogether, another group is symmetrically mounted on rack On the inside of the frame of 52 other sides, the sprocket wheel of lower part two is connected as driving wheel by the power output shaft of sprocket shaft and servo motor M6 Connect, by the distribution of two ring chains be wrapped in same side sprocket wrap and and sprocket engagement, by chain upper end carrier respectively with The lower part connecting elements of 54 upper pallet 543 of carrier connects, and carrier 54 is spaced and is uniformly covered with ring chain periphery, is selected in this example 12 carriers 54 are evenly distributed on the chain periphery of closed loop, and the quantity for keeping while being located at the carrier 54 on 52 top of rack is 5 It is a；The matched strip in gap between the upper bottom roller of the directive wheel 543 of thickness and carrier 54 is selected in this example, is made into four There is the rectangle of arc transition at angle, welds multiple mounting racks in one side, as track 56, by mounting rack and the fixed company of rack 52 It connects, the rectangle for keeping the rectangle of entire track to be formed with chain is concentric similar shape, and this makes it possible to the drives guaranteed in chain Lower carrier 54 can be moved along track 56, not sagging when especially carrier 56 moves to below rack 52, avoid touching with ground Wipe or cause chain releasing；Two tracks 56 are selected to be symmetrically installed on 52 two sides of rack in this example；Current row is selected in this example The general bracket of industry, wears cross bar between two brackets, and infrared temperature sensor is installed on cross bar and is filled as temperature detection Set 57, the infrared temperature sensor T6, T7, T8, T9, T10, T11, T12, T13, T14 in sequence every three be one Group, is mounted on the second working position G2, third working position G3, the top of the 4th working position G4, and each group is distributed as T6, T9, T12 Above the circular arc portion of U-shaped Elema 545, T7, T10, T13 are located at the left side straight line of the heating part A of U-shaped Elema 545 Part, T8, T11, T14 are located at the right side straight line portion of the heating part A of U-shaped Elema 545, can adapt to Elema fever in this way Temperature is high, and is able to detect the difference of the exothermic reaction curve of every section of Elema；Photoelectric sensor is selected to be mounted on biography in this example It is used as material detection device 58 on sensor bracket, is installed in the carrier 54 in rack 52 and positioned at the second working position G2 and installs Whether clamp one end has the end of photoelectric sensor T4 alignment U-shaped Elema 545 for detecting on the second working position G2 Elema exists, to determine whether other mechanisms and device act；The electric voltage for selecting the industry general in this example adjusts dress It sets as voltage regulating device 59, adjusting series is three-level, and motor selects servo motor；With specified test voltage in this example For 24V, tertiary voltage is respectively 20V, 24V, 26V；That is, can be in the second work by voltage regulating device 59 Three kinds of power-on voltages are provided on the G2 of position for U-shaped Elema 545；Band-like copper sheet is selected to be bent into a shape in this example, both ends have Mounting leg, being formed has the track of certain altitude as electrified rail 510, and the length of track is more than or equal to the second working position G2 Carrier to the distance between the outermost of the carrier of the 4th working position G4；And corresponding to the second working position G2, third work is G3, the carrier 545 of the 4th working position G4 stop place setting length be equal to carrier width energization section, the thickness for the section that is powered with Track thickness is identical, easy to manufacture in this way, and between energization section in orbit and unexpected place, it is thick that setting thickness is greater than energization section The insulating segment of 0.2-0.5 millimeters of degree, is made of nylon material and is fixedly connected with track upper surface, the energization in this example There are two the tracks of guide rail 510, parallel to install, and spacing distance is equal to left conductive arm 549 and right conductive arm on carrier 54 Length difference between 5410, the height of track guarantee that the upper surface of its conductive segment is higher than left conductive arm 549 and right conductive arm 5410 0.1-1 millimeters of free end lower surfaces can guarantee conductive arm and energization section in this way under the elastic reaction of conductive arm Good fit, this completes the implementations of monitor station 5.

The control cabinet for selecting the industry general in this example as control cabinet, open by the commercially available air for selecting the industry general It closing, deconcentrator, connecting terminal, button switch is respectively as the air switch 32 in the present invention, deconcentrator 33, connecting terminal 34, Button switch 39；Select the FX1N-64MR series of PLC of Mitsubishi production as master controller 38, touch screen matched with PLC It is commercially available to select the commercially available industry as Switching Power Supply 311. with the matched Switching Power Supply of master controller as touch screen 310 The step-down transformer of general three tap of secondary is as energization transformer 4, and the manipulator for selecting the commercially available industry general is with watching Motor is taken respectively as motor M1, M2, M3, M4, M5, M6, M7, M8, M9, M10, M11, M12；Select general commercially available of the industry Transistor relay as relay JC1, JC2, JC3, JC4, JC5, JC6, JC7, JC8, JC9, JC10, JC11；Select this The commercially available A.C. contactor of industry universal is as JC0, JC13, JC14, JC15, JC16；Commercially available pressure sensor is selected to make For sensor T1, T2, T3；Photoelectric sensor is as T4, T5；Commercially available infrared sensor as sensor T6, T7, T8, T9, T10, T11, T12, T13, T14；The matched magnetic induction sensor of the commercially available and magnet ring cylinder for selecting the industry general is as biography Sensor T16, T17, T18, T19, T20, T21, T22, T23 select commercially available hub respectively as hub J1, J2；It selects The general commercially available two-position three way air-operated solenoid valve of the industry is as solenoid valve F1, F2, F3, F4, F5, F6, F7, F8；It will be above-mentioned Element is attached according to Fig. 6, the connection method of Fig. 7, Fig. 8, Fig. 9, just completes the implementation of control system 3.

The setting of substrate 291 is located to the lower section of attachment base 292, is fixedly connected with attachment base 292；Attachment base 292 is arranged Positioned at 291 upper surface geometric center of substrate, the column or open column shape body of connecting flange are had for upper end；By flange and machinery Flange on the power output shaft of four axis power 28 of hand is matched and is fixedly connected；It will be on 293 installation base plate 291 of movable clip block In guide groove, there are four, it is arranged symmetrically respectively about two center lines of substrate length and width, upper part has connection baffle, connects baffle On be provided with the hole connecting with cylinder piston rod, baffle is vertical with the direction of guide groove on substrate 291 and the length of baffle is big In the width of guide groove on pedestal 291, it can be avoided baffle and fall out of guide groove；Guide pad is arranged at 293 lower part of movable clip block, institute The guiding stated is mounted on the thickness in the guide groove of substrate 291 and running through substrate 291, width and the substrate 291 of guide pad fastly Guide groove is of same size, is oriented to the mounting hole that fast lower end is provided with movable jaw 294, and have with this mounting hole vertical side The fastening screw of fixed movable jaw 294；Movable jaw 294 is mounted on to the lower end of movable clip block 293, is by spring steel wire system At middle and lower part have the tracing pattern of circular arc, the section radius of the radius and Elema heating part barred body of circular arc matches；Choosing It is parallel to install with movable jaw 294 there are two more than；Fixing clip is mounted on to the lower surface of substrate 291, under substrate 291 Surface is vertical, selects there are four fixing clips 295, matches and arrange with movable clip block 292, can be formed and be pressed from both sides with movable jaw 294 It is tight to pay, that is, can clamp when movable jaw 294 is moved with guide groove of the movable clip block 293 on substrate 291 or pine Object of the open position between movable jaw 294 and fixing clip 295；It is commercially available double with magnet ring for selecting folding power 296 Bar cylinder is fixedly mounted on 291 upper surface of substrate, and is symmetrically mounted on the centre of substrate 291, the piston rod at both ends respectively with position Two movable clip blocks 293 in both ends connect, and the movable clip block 293 that both ends are able to drive when piston rod movement moves synchronously, This completes the implementations of the grasping mechanism 29 of feeding manipulator 2.

Four shaft industrial robots for selecting the industry general in this example are as feeding manipulator 2 and blanking mechanical hand 6, by institute The grasping mechanism 29 stated is mounted on the power output shaft end of the 4th axis, just completes feeding manipulator 2 and blanking mechanical hand 6 Implement；Mature technology can be utilized in this way, and it is difficult to reduce manufacture.

The conveyer belt pattern making feeding conveyer belt 1 and feeding conveyor 7 for selecting the industry general in this example, first, in accordance with The regular size of conveyer belt selects width to be greater than the conveying tape holder 12 and power device for needing the total length of U-shaped Elema to be tested 11, wherein the driving motor of power device uses servo motor, and the belt 13 of conveyer belt is used more parallel belts, selects skin Belt wheel 17 is mlultiple-groove sheave or multiple belt pulleys；Using the general limiting device of the industry as limiting device 13, this example It is same flat to guarantee that the confined planes of its limiting device are located at according to the terminal in feeding conveyer belt 1 for 3 limiting devices 13 of middle selection Face, and 3 microswitches or pressure switch are installed as limit sensors 15, respectively as control on three limiting devices 13 Sensor T1, T2, the T3 of system processed, and guarantee the confined planes of the contact protrusion limit limiting device 13 of sensor, that is, Elema runs to the contact of end contact sensor first, contacts confined planes after then suppressing sensor contact；It is selected in this example It uses smooth surface thin-wall stainless steel plate as deflector 16, is installed in one end positioned at Elema conductive part B of conveying tape holder 12, Guarantee that its surface moves closer to the middle line of conveyer belt along belt direction of travel；This completes the implementations of feeding conveyer belt 1.

Equally, structure identical with feeding conveyer belt 1 is selected in this example, removes the deflector of feeding conveyer belt 1, by feeding The belt 13 of conveyer belt 1 changes heat proof material into and is made, and installs object as feeding conveyor 7, and in the feed end of feeding conveyor 7 Expect detection device, the material with identical material detection device 58 on monitor station 5 as feeding conveyor 7 is selected to detect in this example Device, this completes the implementations of feeding conveyor 7.

Feeding conveyer belt 1 is mounted on to the front end of monitor station 5, feeding manipulator 2 is mounted on feeding conveyer belt 1 and detection Between platform 5, the control element of control system 3 will be mounted in control cabinet, control cabinet is mounted near monitor station 5, it will Energization transformer 4 is mounted near control cabinet, be will test platform 5 and is mounted between feeding conveyer belt 1 and feeding conveyor 7, and with Feeding manipulator 2 and blanking mechanical hand 6 cooperate, and blanking mechanical hand 6 is mounted between monitor station 5 and feeding conveyor 7, Feeding conveyor 7 is mounted on to the rear portion of blanking mechanical hand 6, alternating current tie-in line 31 is electrically connected with city, this completes this The implementation of invention.

The pneumatic system of the pneumatic element and constructive method structure capital equipment of selecting the industry general in this example, i.e., it is commercially available Pneumatic triple piece, air-operated solenoid valve, minitype cylinder, double-rod cylinder, according to the connection method and control system of atmospheric control Connection, is achieved that the implementation of pneumatic system.

In application, U-shaped Elema is transported to from previous process or is manually placed on feeding conveyer belt 1, will weave Control program be input in master controller 38, set the operating parameter of this equipment on touch screen 310, button press switch 39, master relay JC0 is triggered by master controller 38 and connects power supply of the whole machine, and instructs the driving motor of feeding conveyer belt 1 M1 operating, driving conveying belt movement, U-shaped Elema is moved to 2 direction of feeding manipulator, by the effect of deflector 16, by U The conducting end of shape Elema snaps to a position, when U-shaped Elema is run to and sensor T1, when T2, T3 are contacted, limit dress It sets 14 and Elema is blocked in a flush position, as U-shaped Elema force transducer T1, T2, T3, sensor T1, T2, T3 Signal is issued to master controller 38, when master controller 38 judges that three sensors T1, T2, T3 have issued signal, just in instruction The driving motor M1 of material conveyer belt 1 stops working, while feeding manipulator 2 being instructed to work, at this point, due to U-shaped Elema length Longer, U-shaped Elema tilts in order to prevent, it then becomes necessary to three sensor T1, T2, T3 are triggered simultaneously, master controller 38 Above-metioned instruction can be just issued, after feeding manipulator 2 walks Elema crawl, three sensor T1, T2, T3 are released, issue For information to master controller 38, master controller 38 instructs the driving motor of feeding conveyer belt 1 to work again, when feeding manipulator 2 is by U When shape Elema 545 is placed into the first working position G1 of monitor station 5, the instruction of master controller 38 is mounted on beating for the first working position G1 The cylinder movement for opening clamping mechanism 53 pushes the portable pillar of clamp to move upwards, to open the load for being located at the first working position G1 The clamp of body 54 is opened, and after manipulator puts down Elema, cylinder counter motion, clamp closes up U under the action of the spring Two conducting ends of shape Elema 545 clamp, and are mounted on the magnetometric sensor opened on the cylinder on clamping mechanism 53 at this time T18, T19 issue signal, and 38 command detection platform driving motor M6 of master controller works and rotates by a certain angle, and are scaled carrier 54 in the distance that the move distance on monitor station 5 is then between the first working position G1 to the second working position G2, and sets, and monitor station drives Dynamic motor M6 is operated every time apart from identical, and the carrier 58 equipped with U-shaped Elema 545 is transported to the second work G2, detection The driving motor M6 of platform 5 stops and positions, the left and right conductive arm 549,5410 on carrier respectively with two electrified rails 58 The contact of one energization section；After obtaining the signal that driving motor M6 stops, while the material detection device 58 for being mounted on monitor station 5 detects To the presence of U-shaped Elema, master controller 38 is sent a signal to, 38 commanded temperatures control system 36 of master controller, which is connected to be powered, to be become Depressor leads to the relay JC13 of voltage regulating device 59 for the power supply of voltage regulating device 59, while 38 command voltage of master controller The driving motor M13 of regulating device 59 rotates by a certain angle, and sliding block is pushed to open the voltage for leading to U-shaped Elema 545 from low pressure Begin to preheat U-shaped Elema 545, thus is avoided that Elema is powered suddenly and damages, after reaching setting preheating time, main control 59 driving motor M13's device 38 of command voltage regulating device rotates by a certain angle again, the sliding block of voltage regulating device 59 and second The contact of step voltage contact supplies the second step voltage to U-shaped Elema 545, and after reaching setting time, master controller 38 issues again Instruction, the driving motor M13 of voltage regulating device 59 rotate by a certain angle again, and sliding block is pushed to third level voltage contact, Third step voltage is supplied to U-shaped Elema 545, after the time for reaching setting, master controller 38 instructs the control of the first energization section Relay JC13 is disconnected, and is stopped to U-shaped silicon carbide rod power supplying, the driving motor M13 of voltage regulating device 59 is reversely rotated, by sliding block Retract home position；Simultaneously since energization, 3 infrared temperature sensors T6, T7 being mounted on above the second operating position, The temperature of three positions of U-shaped is transferred to master controller 38, master controller with the variation and the signal that changes with time of voltage by T8 38 record the first time detection data of the U-shaped Elema 545, and stored or order printer print data list or Person's temperature variation curve；After stopping being powered, the driving motor M6 of the command detection platform 5 again of master controller 38 rotates certain angle The carrier for being mounted with the Elema after first time is powered is transported to third working position G3, at this time the left side on carrier 54 by degree Right conductive arm 549,5410 is contacted with the second segment energization section on electrified rail 510, and master controller 38 instructs second segment energization section Control relay JC14 connect, be powered, disconnected after the time for the setting that is powered, at this time to U-shaped Elema 545 using voltage rating It is mounted on three infrared temperature sensors T9, T10, T11 above third working position G3 and temperature variation data is sent to master Controller 38, master controller 38 are stored or are exported, and the Data Integration with the first energization section；Equally reach setting time Afterwards, carrier 54 is transported to the 4th working position G4, the left and right conductive arm 549,5410 on carrier 54 and the third on electrified rail Duan Tong electricity sections of contacts, master controller 38 instruct

Master controller 38 instructs the control relay JC15 of third section energization section to connect, and conveys and overloads to U-shaped Elema 545 Voltage disconnects after setting time, while being mounted on infrared temperature sensor T12, T1 above the 4th working position G4, The data that the temperature at three positions of U-shaped Elema changes over time under 3T14 acquisition overload, and transmit that data to master The data are stored or are exported by controller 38, master controller 38, and with first two sections be powered after Data Integration, as the U-shaped silicon The test data of carbon-point 545, compares with normal data, judges whether qualification, underproof Elema is on carrier 54 by blanking Manipulator 6 grabs alarm, and prompting operator's U-shaped Elema 545 is rejected product, or using two blankings conveyings Band, blanking mechanical hand 6 are put into rejected product feeding conveyor after grabbing the U-shaped Elema 545；When carrier is in the 4th work After the completion of position G4 is powered, it is transported to the 5th working position G5, master controller 38 instructs blanking mechanical hand 6 to start to work at this time, peace Opening clamping mechanism 53 below the 5th working position G5 opens clamp, and blanking mechanical hand 6 grabs U-shaped Elema 545 After be put into feeding conveyor 7, the material detection device being mounted in feeding conveyor 7 detects depositing for U-shaped Elema 545 Master controller 38 is being transferred information to, master controller 38 instructs feeding conveyor driving motor M11 to start to work, rotation one Stop after determining angle；So circulation, it will be able to the automatic detection of U-shaped Elema 545 is completed, and saves and export detection data, The advantages that with high degree of automation, detection accuracy is high, avoids the damage of personnel and article.

Claims (1)

1. a kind of U-shaped Elema automatic checkout equipment, it is characterised in that: including feeding conveyer belt, feeding manipulator, control system System, energization transformer, monitor station, blanking mechanical hand, feeding conveyor；The feeding conveyer belt is mounted on the charging of monitor station End, discharge end is corresponding with the crawl position of feeding manipulator, and dynamic Control and partial message transmission pass through conducting wire and control System connection processed；The feeding manipulator is mounted between feeding conveyer belt and monitor station, the crawl position of manipulator and Discharge position is corresponding with the feeding clamping position of the Elema position location of the discharge end of feeding conveyer belt and monitor station respectively, The dynamical system of its manipulator is connect by conducting wire with control system with control system, the pneumatic system and this equipment of manipulator Pneumatic system connection, the control circuit of the pneumatic system of manipulator connect by conducting wire with control system；The feeder Each mechanical arm of tool hand, which cooperates, can be realized the raising and lowering and rotation of catching robot；The control system peace In each funtion part of this equipment, can control this equipment operational mode and each funtion part cooperate with And various information are output and input, and are respectively connect with each funtion part by conducting wire；The energization transformer is mounted on Near monitor station, it is connect with control system；The monitor station is mounted between feeding manipulator and blanking mechanical hand, Neng Gou Feed end receives and the U-shaped Elema that is loaded, and is powered and detects and can will test information and store and export respectively, and judge its with U-shaped Elema is transported to the discharge end of monitor station after the difference of standard parameter from the feed end of monitor station；The blanking machine Tool hand is mounted on the discharge end of monitor station, and the U-shaped Elema of the discharge end of the crawl position and monitor station of catching robot is fixed Position position is corresponding and corresponding with the rewinding position of feeding conveyor, and dynamical system and the control system of manipulator pass through Conducting wire is connect with control system, and the pneumatic system of manipulator is connect with the pneumatic system of this equipment, the pneumatic system of manipulator Control circuit connect with control system by conducting wire；Each mechanical arm mutual cooperation of the blanking mechanical hand can be realized The raising and lowering and rotation of catching robot；The feeding conveyor is mounted on the side of blanking mechanical hand and is located at detection Discharging one end of platform, rewinding position are corresponding with the position of the catching robot of blanking mechanical hand；The energization transformer Step-down transformer, input terminal is line voltage, and output end has 3 or more, export different voltage values respectively, respectively with detection The different conductive segments of electrified rail on platform connect, and maximum output voltage is less than 36 volts；The feeding manipulator includes pedestal, One axis power, the first arm, two axis power, the second arm, three axis power, third arm, four axis power, grasping mechanism；The pedestal Positioned at the lower section of the first arm, it is connect by an axis power with the first arm；The pedestal lower part is fixedly mounted on installation foundation, Top is connected by power with an axis；The one axis power is mounted on pedestal top, is the aggregate of servo motor and retarder, energy Enough the rotation speed and angle that rotate horizontally power and the first arm can be controlled are provided for the first arm；First arm is mounted on On pedestal, the power output axis connection of its underpart and an axis power, top and two axis power cage connections；The two axis power It is mounted on the upper end of the first arm, is the aggregate of servo motor and retarder, shell is fixedly connected with the upper end of the first arm, Power output shaft is fixedly connected with the second arm, and the axis of power output shaft is vertical with the axis of the first arm, the movement exported The second arm can be made to be swung around one end, and the speed and angle of the second arm swing can be controlled；The second arm installation On two axis power, one end is fixedly connected with the power output shaft of two axis power, the cage connection of the other end and three axis power；Institute The length for the second arm stated is greater than the length of U-shaped Elema；The three axis power are mounted on the end of the second arm, dynamic with two axis The corresponding other end of power, shell are fixedly connected with the second arm, and power output shaft is fixedly connected with third arm；Three axis Power is the set of servo motor and retarder, and the swing speed for swinging power and capable of controlling third arm can be provided for third arm Degree and angle, swaying direction is parallel with the second arm swing direction, that is, the plane that its center line is formed when the second arm swing It is parallel with the plane that third arm center line swinging track is formed；The four axis power are mounted on the outer end of third arm, are servo The aggregate of motor and retarder, shell are fixedly connected with the outer end of third arm, the company of power output shaft and grasping mechanism Joint chair is fixedly connected, and the rotary motion perpendicular to third arm can be provided for grasping mechanism, and can control the rotation of grasping mechanism Rotary speed and angle；The grasping mechanism is mounted on the power output shaft of four axis power, attachment base and four axis power Power output shaft is fixedly connected, and can be rotated around the axis vertical direction of third arm；The grasping mechanism includes substrate, connection Seat, movable clip block, movable jaw, fixing clip open and close power；The substrate is located at the lower section of attachment base, solid with attachment base Fixed connection is rectangular plate-like body；The attachment base is located at upper surface of base plate geometric center, and the column of connecting flange is had for upper end Shape body or open column shape body；The flange is matched and is fixedly connected with the flange on the power output shaft of four axis power；It is described Movable clip block installation base plate on guide groove in, there are four, be arranged symmetrically respectively about two center lines of substrate length and width, thereon There is connection baffle in portion, and the hole connecting with cylinder piston rod, the guide groove on baffle and substrate are provided on the connection baffle Direction is vertical and the length of baffle is greater than the width of guide groove on pedestal, can be avoided baffle and fall out of guide groove；It is described Movable clip block lower part have a guide pad, the guiding is mounted on the thickness in guide groove and running through substrate fastly, is oriented to fast width Degree is of same size with the guide groove on substrate, and the lower end of guide pad is provided with movable jaw mounting hole, and hangs down with this mounting hole Straight sided has the fastening screw of fixed movable jaw；The movable jaw is mounted on the lower end of movable clip block, is by spring steel There are the tracing pattern of circular arc, the section radius phase of the radius and Elema heating part barred body of circular arc in middle and lower part made of silk Match；The movable jaw is parallel to install there are two more than；The fixing clip is mounted on the lower surface of substrate, with substrate Lower surface is vertical, the geometric center lines that vertical center line is combined with movable jaw in one plane, the fixing clip There are four, it matches and arranges with movable clip block, can be formed to clamp with movable jaw and paid, that is, when movable jaw is with movable clip block Guide groove on substrate can clamp or release the object between movable jaw and fixing clip when moving；Described Folding power is double-rod cylinder, is fixedly mounted on upper surface of base plate, and be symmetrically mounted on the centre of substrate, the piston rod point at both ends It is not connect with two movable clip blocks for being located at both ends, the movable clip block that both ends are able to drive when piston rod movement moves synchronously.